ASSIGNMENT 1

[Submit at the end of lecture on 23/10/2015]

Part A
Answer ALL questions
1) A closed loop system is used for speed control as shown in Figure 1,

R(s)

E(s)

Gc (s )

G p (s )

Y (s )

H (s )

A complicated block diagram involving

loops can be simplifiedby
Figure 1many feedback
a step-by-step rearrangement. Simplification of the block diagram by rearrangements
(a) Find the open
loop the
transfer
function.
considerably
reduces
labor
needed for subsequent mathematical analysis. It should
be noted, however, that as the block diagram is simplified, the transfer functions(20%)
in new
(b) Assuming
= complex
1, find the because
close loopnew
transfer
function.
blocks
generated.
becomemore
are
poles and new zeros
(20%)

theyour
system
shown
in Figure 213(a).
(c) Prove
answer
in (b).
Simplifythis diagram.
EXAMPLE 21 Consider
By moving the summing point of the negative feedback loop containing 112outside the
(60%)

tive feedback loop containing HI , we obtain figure 213(b).Eliminating the positive feedback
have
figure
213(c).The
112/(51
elimination
containing
loopdiagrams
2) we
Find
thefigure
transfer
function ()
() ofof
thethe
block
shown
in gives
Figure
2 and Figure 3finally.
eliminating
the
feedback
loop
in Figure 213(e).
using block diagram reduction results
technique.

H:
(a)

G)

Figure 2

EXAMPLE PROBLEMS AND SOLUTIONS

A-3-1.

Figure 320(a)shows a schematic diagram of an automobile suspension system. As the car moves
along the road, the vertical displacements at the tires act as the motion excitation to the automobile suspension system. The motion of this system consists of a translational motion of the cen-

ter of mass and a rotational motion about the center of mass. Mathematical modeling of the
complete system is quite complicated.

A very simplified version of the suspension system is shown in Figure 320(b).

Assuming that
the motion Xiat point P is the input to the system and the vertical motion xo of the body is the
output, obtain the transfer function Xo(s)/ Xi(s). (Consider the motion of the body only in the ver-

tical direction.) Displacement xo is measured from the equilibrium position in the absence of
input Xi.
Solution. The equation of motion for the system shown in Figure 320(b)is
Figure 3

mio + b(io

+ k(xo

3) Figure 4(a) shows a schematic diagram of an automobile suspension system. As the car moves
oralong the road, the vertical displacement at the tires act as the motion excitation to the automobile
suspension system. The motion of this system consists of a translational motion of the center of
+ kxo
biti +
mass and a rotational motion about +
thebio
center
of
mass.
A kx,
simplified mathematical modeling of
the system is shown in Figure 4(b). Assuming that the motion * at point P is the input to the
Taking the Laplace transform of this last equation, assuming zero initial conditions, we obtain
system and the vertical motion + of the is the output,

+ k)Xo(s) = (bs

(ms2

+ the
bs simplified model
(a) Draw the free body diagram of

k)
(30%)

is given by
Hence the transfer function
(b) Write the force equation in time and frequency domain

xo(s)
(c) Obtain the transfer function + ()/. ().

xt(s)

bs

ms-

(40%)

bs + k

(30%)

Center of mass
Auto body

Figure 3-20
(a) Automobile
suspension system;
(b) simplified

(a)

suspension system.
96

Chapter 3

(b)

Systems and Electrical Systems

Figure 4
Mathematical Modeling of Mechanical

xo

Part B
Answer ALL questions. However, only selected question will be marked in this part.
Marks will be deducted accordingly should any of the question left unanswered.
1) For the mechanical system shown in Figure 5,

Figure 5

(a) Draw the free body diagram of the simplified model

(20%)
(b) Write the force equation in time and frequency domain
(30%)
(c) Draw SFG
(20%)
(d) Obtain the transfer function / ()/() by applying Masons gain formula to the SFG.
(30%)

2) Find the transfer function for the RLC circuit shown in Figure 6 using SFG and Masons gain
formula.

Figure 6

3) Find the transfer function + /. for the op amp shown in Figure 7.

re 326
rationallifier circuit.

A36.

Figure 7

of the op-amp circuit shown in Figure 326.

Obtain the transfer function

Solution. The voltage at point A is

The Laplace-transformed version of this last equation is

1
= 51 El(s) + Eo(s)]

The voltage at point B is

Eg(s)

Since [EB(s)

Eo(s) and K > 1, we must have EA(s)

EH(s). Thus